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Change GraphID numbering to be zero-based

Hugo Winbladh requested to merge 255-zero-based-graph_id-numbering into master

Closes #255 (closed)

This MR changes the numbering system used for the GraphIDs in SFGs to begin counting from zero instead of one. Backwards compatibility will be broken for old code using hard-coded GraphIDs.

All tests are edited to work with this new numbering system, as well as the code examples in the examples folder.

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